EP1797399B1 - Dispositif de mesure de la position absolue d'au moins deux corps deplaçables ou mobiles en rotation l'un par rapport a l'autre - Google Patents

Dispositif de mesure de la position absolue d'au moins deux corps deplaçables ou mobiles en rotation l'un par rapport a l'autre Download PDF

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Publication number
EP1797399B1
EP1797399B1 EP05792002.7A EP05792002A EP1797399B1 EP 1797399 B1 EP1797399 B1 EP 1797399B1 EP 05792002 A EP05792002 A EP 05792002A EP 1797399 B1 EP1797399 B1 EP 1797399B1
Authority
EP
European Patent Office
Prior art keywords
segment
encoder
signals
measurement apparatus
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP05792002.7A
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German (de)
English (en)
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EP1797399A2 (fr
Inventor
Christian Burgdorf
Klaus Rink
Henrik Antoni
Veith Albrecht
Frank Hickl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
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Continental Teves AG and Co OHG
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Publication of EP1797399A2 publication Critical patent/EP1797399A2/fr
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Publication of EP1797399B1 publication Critical patent/EP1797399B1/fr
Not-in-force legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

Definitions

  • the invention relates to a measuring device for measuring the absolute position of at least two mutually displaceable or rotatable body to each other.
  • encoders By means of magnetically coded discs, rings or flat strips of magnetizable material, so-called encoders, path differences can be detected using magnetic field sensors. By changing the magnetic field in size or direction, caused by a relative displacement of the encoder and the sensor elements, it is possible to deduce the direction and magnitude of the movement.
  • sensors based on magnetic fields for measuring geometric variables have proven particularly advantageous in automotive engineering. In particular, they can be used as sensors for measuring the wheel speed, the throttle position or the pedal travel.
  • WO 01/51893 discloses a concept with which a path difference can be detected by a linear displacement sensor and output in the form of an electrical output signal.
  • a rod-shaped encoder scanning sensor elements are described which generate a mutually phase-shifted signal.
  • the document provides no indication of how the specified element sensor and the magnetization of the encoder under practical conditions, such as those in the motor vehicle, must be performed to detect a position with only one sensor.
  • a strip-wise magnetized encoder or scale can be scanned by a magnetoresistive sensor to detect the positional shift of a brake pedal.
  • a disadvantage of a measuring device designed in this way is that an absolute value of the position of the displaceable body can be determined only with considerable objection, in particular using a plurality of encoders or the like.
  • US 4,757,244 and DE 19754524 reveal both absolute position sensors. From the EP 1 157 256 B1 however, a system is known with which an absolute position measurement is to be made possible under certain restrictive conditions.
  • a magnetized scale or encoder is provided in this system, which is helically magnetized, so that viewed in the longitudinal direction of the encoder, the angle of the magnetization direction increases depending on the location continuously and continuously square with the location coordinate.
  • the production of such systems but in particular in terms of material requirements is relatively expensive.
  • precise guidance of the mutually moving parts is also required.
  • the invention is therefore based on the object of specifying a measuring device of the type described above, with which the absolute position of a displaceable body can be reliably determined with a particularly low production cost. Furthermore, a method for determining the absolute position should be specified.
  • this object is achieved by the position of a displaceable body over at least two spaced magnetic field sensitive Sensor elements is determined, wherein the displaceable body has a permanent magnetic encoder with a number of alternating in the measuring direction in their polarity magnetic segments, wherein the length of the segments is different in the direction of displacement.
  • the invention is based on the consideration that the determination of an absolute position with a sensor arrangement as described above can be achieved in particular if a scale is arranged on the signaling side of the information transmission from which the position of the displaceable body on the signal receiving side is derived can generate.
  • An unambiguous position assignment via the magnetized encoder can be achieved by suitably selecting its magnetization properties.
  • the requirements with regard to the magnetization to be embossed into the scale should be limited, so that, in particular, a segmental design of the encoder should be maintained.
  • the magnetized segments of the encoder differ from one another in the measuring direction in their length, so that the angular difference between the magnetic field directions detected by two magnetfeldalleen sensor elements spaced apart from each other in a unique manner of the individual Segments of the encoder depends and thus the position of the movable body can be derived.
  • the difference in length of magnetized segments can be determined by the phase relationship, the frequency difference or the amplitude difference, wherein the determined length can be used to identify the respective individual segment and thus its positioning in the encoder for determining the absolute position.
  • the generation of a signal value proportional to the position of the respective body is possible in a particularly simple manner in that the length of the segments of the encoder in the measuring direction increases according to the invention from segment to segment in such a way that the angular difference detected by the sensor elements spaced apart from each other over the length of the encoder seen proportionally increases with this.
  • the length can increase or decrease from segment to segment by a predetermined constant amount.
  • the encoder is expediently designed to be rotationally symmetrical, rotationally symmetrical magnetic fields being applied on its circumference. This ensures that the magnetic field of the encoder does not change during a movement of the encoder with the displaceable body about the main axis of movement of the encoder, which may be present due to the individual requirement. In such an embodiment of the encoder especially the reliable operation of the system is ensured without the installation of the Encoders on the exact alignment or adjustment would have to be respected.
  • the encoder preferably has magnetic material embedded in plastic. This can be produced by a pressing process or else by injection molding, wherein in particular ferrite or else neodymium-iron-boron (NdFeB) materials can be used. During production, the material is preferably magnetized in strips with an alternating polarity in the measuring direction.
  • the respective sensor element preferably has a number of sensors whose function is advantageously based on the anisotropic magnetoresistive, the giant magnetoresistive or the Hall effect.
  • magnetoresistive resistance layers can be applied meander-shaped on a silicon substrate for a high resolution.
  • an output signal proportional to the position of the displaceable body is preferably calculated.
  • the measuring device advantageously has an evaluation unit, via which the calculation can be carried out.
  • sensor element signals amplitudes, frequency or phase signals are advantageously evaluated.
  • a number of measuring bridges of a sensor element are expediently arranged at an angle of 45 ° to one another.
  • two Wheatstone measuring bridges which are rotated by 45 ° to each other and arranged with respect to the displaceable body or the encoder at the same position, can be with these a corresponding generate sinusoidal and cosinusoidal electrical output signal.
  • an output signal proportional to the position of the displaceable body can be calculated by expediently using an arctangent function.
  • sensor elements are used in the calculation of the output signal, which generate in each case segmentwise over the length of the respective segment piecewise linearly increasing angle signal.
  • This can be achieved, for example, by using sensor elements of the type mentioned in which measuring sensors rotated by 45 ° to one another are used. These generate on the one hand a signal proportional to the sine of the field vector angle and on the other hand a signal proportional to the cosine of the field vector angle. From the ratio of these signals and a subsequent application of the arctangent function can thus be generated the desired, piecewise over the length of the respective segment linearly increasing angle signal.
  • the monotonically increasing or decreasing length of the individual segments along the longitudinal direction of the encoder ensures that the difference between the angle signals generated by two sensor elements of the aforementioned type arranged at a distance from one another clearly correlates with the positioning of the sensor elements relative to the encoder.
  • the position to be determined is therefore determined on the basis of the difference between the angle signals generated by two sensor elements.
  • the said difference can be used directly for determining the position in the manner of an absolute position measurement.
  • the position determination but also be made in the manner of a two-stage design, in which in a first step, the currently detected by the sensor elements segment is determined in the manner of a coarse determination, in a second step in the type of fine measurement, the positioning of the respective Sensor element with respect to the identified segment takes place.
  • the difference of the angle signals is expediently used in a first evaluation step to identify the respective segment, wherein in a second evaluation step, the angle signal of one of the sensor elements is used to determine the position in relation to the respective segment.
  • the advantages of the invention are, in particular, that an absolute position can be measured without contact with the measuring device described.
  • the measured value thus obtained is immediately available again even after the electronics have been switched off and then switched on again, without the need for an external start value or intermediate storage.
  • Another advantage is that calibration of the measuring device need not be performed, and components of the measuring device can be replaced without recalibration in the event of wear.
  • the measuring device is particularly suitable for use in a motor vehicle under the relevant boundary conditions such as corrosion, contamination, extreme temperature fluctuations with high accuracy and resolution.
  • the described measuring device also has a very high resolution and accuracy. By quantizing the individual sensor signals, it is also possible to realize incremental detection, in which the displacements which continue to occur are subsequently determined or monitored in the manner of a follow-up by resorting to an absolute position that has once been determined.
  • FIG. 1 schematically a measuring device 1 for determining the position of a displaceable body is shown.
  • the body is not specified in more detail.
  • many options such as the measurement of a pedal travel, a memory path in hydraulic or pneumatic accumulators, a shock absorber, a Boosterweges, a pad thickness, a level in liquid tanks, the position of a sunroof or convertible top, the measurement to determine a throttle position or other possibilities conceivable.
  • possible applications are not limited to the motor vehicle sector, but particularly suitable for this.
  • the absolute position s of all bodies can be measured contactlessly with the measuring device 1, which can be moved or moved along a path or even an arc.
  • FIG. 1 For the encoding of the position s of such a displaceable body this is provided with a magnetic encoder 2, the in FIG. 1 is shown schematically.
  • This encoder 2 is firmly connected to the movable body and moves with this.
  • the encoder 2 is executed in the embodiment of molded plastic-bonded neodymium-iron-boron and has in the measuring direction r of the body permanent magnetic alternating in their polarity segments 4.
  • the segments 4 have an increasing length in the measuring direction r. The increase in length is selected such that the angle difference detected by the spaced-apart sensor elements increases in proportion to the length of the encoder.
  • the encoder 2 is designed rotationally symmetrical in the exemplary embodiment, so that a rotation about this longitudinal axis, which runs in the measuring direction r, does not influence the magnetic field.
  • two sensor elements 6 are arranged on the encoder 2, from which an evaluation unit 8 calculates an electrical output signal A proportional to the position s of the encoder 2 and therefore of the body.
  • the sensor elements 6 are positioned at a constant distance a s relative to one another and with respect to the encoder 2 without contact.
  • the encoder 2 is segmentally impressed for each segment 4 constant, alternating between adjacent segments 4 magnetization. The magnetic field generated by this magnetization generated at a fixed sensor distance position dependent a detectable by the sensor elements 6, increasing differential angle.
  • the two sensor elements 6 each have two Wheatstone measuring bridges 10, which are each arranged one above the other and rotated by 45 ° to each other.
  • an anisotropic magnetoresistive resistor (AMR) is connected in each Wheatstone measuring bridge 10. Because of the 45 ° rotation, the two Wheatstone measuring bridges 10 of a sensor element 6 each generate a sinusoidal and a cosinusoidal output signal when the encoder 2 is displaced. With these two Signals is generated via the control unit 8 for each sensor element 6 with an arctangent function a linear within a pole length characteristic ⁇ 1 and ⁇ 2, which in FIG. 3 are shown.
  • the resulting output A ( ⁇ 2- ⁇ 1) is also corrected in FIG. 3 shown. This corresponds to the absolute position.
  • the detected angular difference can also be used to identify the respectively active segment 4 in a first evaluation step and thus make a rough determination of the position s.
  • the subsequent fine determination of the position s can then take place on the basis of the characteristic curve of one of the sensor elements 6.
  • the measuring principle shown is not dependent on a strictly monotonous local characteristic and can be particularly pronounced in selected subregions of the encoder in the manner of a selective focusing particularly by the proposed segmentation is preferably selected with positionally increasing segment length in these sub-areas.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Claims (10)

  1. Dispositif de mesure (1) destiné à mesurer la position absolue (s) d'au moins deux corps l'un par rapport à l'autre qui peuvent être déplacés par coulissement ou rotation de façon relative entre eux, dans lequel un premier corps présente un codeur (2) à aimantation permanente avec un certain nombre de segments (4), une magnétisation constante pour chaque segment (4), à polarisation alternée entre des segments (4) voisins dans la direction de mesure (r), étant impartie au codeur (2) par segments, la longueur des segments (4) étant différente dans la direction de mesure (r), la longueur des segments (4) augmentant ou diminuant dans la direction de mesure (r) de segment (4) à segment (4) de façon monotone ou strictement monotone, et un deuxième corps présentant au moins deux éléments de capteur (6) sensibles aux champs magnétiques, distants l'un de l'autre,
    le dispositif de mesure étant constitué de telle sorte que, à partir d'un certain nombre de signaux d'éléments de capteur, un signal de sortie (A) proportionnel à la position absolue (s) du corps pouvant coulisser est calculé au moyen d'une unité d'analyse (8).
  2. Dispositif de mesure (1) selon la revendication 1, dans lequel le codeur (2) est réalisé de façon symétrique en rotation.
  3. Dispositif de mesure (1) selon l'une des revendications 1 à 2,
    dans lequel le codeur (2) présente un matériau magnétique noyé dans une matière plastique.
  4. Dispositif de mesure selon l'une des revendications 1 à 3,
    dans lequel un élément de capteur (6) présente respectivement un certain nombre de capteurs dont le fonctionnement est basé sur l'effet de magnétorésistance anisotrope, l'effet magnétorésistif géant ou l'effet Hall.
  5. Dispositif de mesure (1) selon l'une des revendications 1 à 4,
    dans lequel un certain nombre de ponts de mesure d'un élément de capteur (6) sont disposés en formant un angle de 45° les uns par rapport aux autres.
  6. Procédé destiné à définir la position (s) d'un corps pouvant coulisser en utilisant un dispositif de mesure (1) selon l'une des revendications 1 à 5, un signal de sortie (A) proportionnel à la position absolue (s) du corps pouvant coulisser étant calculé à partir d'un certain nombre de signaux d'éléments de capteur au moyen d'une unité d'analyse (8).
  7. Procédé selon la revendication 6, dans lequel des signaux d'amplitude, de fréquence ou de phase sont analysés en tant que signaux d'éléments de capteur.
  8. Procédé selon la revendication 6 ou 7, dans lequel chaque élément de capteur (6) produit respectivement par segments un signal angulaire qui augmente progressivement de façon linéaire sur la longueur du segment (4) respectif.
  9. Procédé selon la revendication 8,
    dans lequel la position (s) est déterminée à l'aide de la différence des signaux angulaires produits par deux éléments de capteur (6).
  10. Procédé selon la revendication 9,
    dans lequel, dans une première étape d'analyse, la différence des signaux angulaires est utilisée pour identifier le segment (4) respectif, le signal angulaire d'un des éléments de capteur (6) étant, dans une deuxième étape d'analyse, utilisé pour définir la position (s) en relation avec le segment (4) respectif.
EP05792002.7A 2004-09-30 2005-09-29 Dispositif de mesure de la position absolue d'au moins deux corps deplaçables ou mobiles en rotation l'un par rapport a l'autre Not-in-force EP1797399B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102004048198 2004-09-30
PCT/EP2005/054897 WO2006035055A2 (fr) 2004-09-30 2005-09-29 Dispositif de mesure de la position absolue d'au moins deux corps deplaçables ou mobiles en rotation l'un par rapport a l'autre
DE102005046822A DE102005046822A1 (de) 2004-09-30 2005-09-29 Messvorrichtung zur Messung der Absolutposition mindestens zweier relativ zueinander verschiebbarer oder drehbarer Körper zueinander

Publications (2)

Publication Number Publication Date
EP1797399A2 EP1797399A2 (fr) 2007-06-20
EP1797399B1 true EP1797399B1 (fr) 2017-08-30

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EP05792002.7A Not-in-force EP1797399B1 (fr) 2004-09-30 2005-09-29 Dispositif de mesure de la position absolue d'au moins deux corps deplaçables ou mobiles en rotation l'un par rapport a l'autre

Country Status (4)

Country Link
US (1) US20090284252A1 (fr)
EP (1) EP1797399B1 (fr)
DE (1) DE102005046822A1 (fr)
WO (1) WO2006035055A2 (fr)

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EP2163854A1 (fr) 2008-09-12 2010-03-17 Austriamicrosystems AG Agencement de capteurs et procédé de mesure
EP2446288B1 (fr) * 2009-06-26 2013-03-20 Continental Teves AG & Co. oHG Capteur hybride
US8723511B2 (en) * 2010-04-26 2014-05-13 Nidec Avtron Automation Corporation Absolute encoder
GB201117201D0 (en) * 2011-10-04 2011-11-16 Howard Mark A Detector
DE102013003270B4 (de) 2013-02-27 2021-10-28 Helag Elektronik GmbH Vorrichtung und Verfahren zum Erfassen einer Linearbewegung
KR101935615B1 (ko) * 2013-08-29 2019-04-04 매그나칩 반도체 유한회사 홀 센서의 밀림 인식 방법 및 이를 이용한 센싱 시스템
DE102014224961A1 (de) * 2014-12-05 2016-06-09 Robert Bosch Gmbh Vorrichtung und Algorythmik zur radialen mechanisch absoluten Winkelbestimmung einer Welle
DE102015107733A1 (de) * 2015-05-18 2016-11-24 Inventus Engineering Gmbh Dämpfereinrichtung mit einem magnetorheologischen Dämpfer
CN105043233A (zh) * 2015-08-12 2015-11-11 中国石油集团长城钻探工程有限公司 钻井取心实时检测系统
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DE102016112963A1 (de) 2016-07-14 2018-01-18 Webasto-Edscha Cabrio GmbH Verschlussvorrichtung mit Verschlusshaken und Detektionseinrichtung für Verschlusshakenstellung
US10989566B2 (en) 2018-04-09 2021-04-27 Infineon Technologies Ag Magnetic sensor system for measuring linear position
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Publication number Publication date
US20090284252A1 (en) 2009-11-19
WO2006035055A3 (fr) 2006-06-08
DE102005046822A1 (de) 2006-05-11
EP1797399A2 (fr) 2007-06-20
WO2006035055A2 (fr) 2006-04-06

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